Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:

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Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

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Public Member Functions
	ChTrackShoeDoublePin (const std::string &name, DoublePinTrackShoeType topology)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetPitch () const override
	Return the pitch length of the track shoe. More...

virtual ChVector3d	GetTension () const override
	Get track tension at this track shoe. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override
	Initialize this track shoe subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the track shoe subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the track shoe subsystem.

Public Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
std::shared_ptr< ChContactMaterial >	GetSprocketContactMaterial () const
	Get the contact material for the track shoe part interacting with the sprocket.

Public Member Functions inherited from chrono::vehicle::ChTrackShoe
virtual GuidePinType	GetType () const =0
	Return the type of track shoe (guiding pin). More...

size_t	GetIndex () const
	Get the index of this track shoe within its containing track assembly.

std::shared_ptr< ChBody >	GetShoeBody () const
	Get the shoe body.

virtual double	GetHeight () const =0
	Return the height of the track shoe.

virtual ChVector3d	GetLateralContactPoint () const =0
	Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...

virtual utils::ChBodyGeometry	GetGroundContactGeometry () const
	Return contact geometry and material for interaction with terrain.

void	EnableCollision (bool val)
	Turn on/off collision flag for the shoe body.

void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

Public Member Functions inherited from chrono::vehicle::ChPart
const std::string &	GetName () const
	Get the name identifier for this subsystem.

void	SetName (const std::string &name)
	Set the name identifier for this subsystem.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () const
	Get the current subsystem position relative to the global frame. More...

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual double	GetShoeMass () const =0
	Return the mass of the shoe body.

virtual const ChVector3d &	GetShoeInertia () const =0
	Return the moments of inertia of the shoe body.

virtual double	GetShoeLength () const =0
	Return shoe length (distance between pins).

virtual double	GetShoeWidth () const =0
	Return shoe width (separation between connectors).

virtual double	GetConnectorMass () const =0
	Return the mass of a connector body.

virtual const ChVector3d &	GetConnectorInertia () const =0
	Return the moments of inertia of a connector body.

virtual double	GetConnectorLength () const =0
	Return the length of a connector body (distance between pins).

virtual double	GetConnectorWidth () const =0
	Return the width of a connector body (for visualization only).

virtual double	GetConnectorRadius () const =0
	Return the radius of a connector body.

void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector3d &loc_connector_L, const ChVector3d &loc_connector_R, const ChQuaternion<> &rot_connector)
	Initialize this two-connector double-pin track shoe system. More...

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.

Protected Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
	ChTrackShoeSegmented (const std::string &name)

Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
	ChTrackShoe (const std::string &name)
	Construct a track shoe subsystem with given name.

Protected Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name.

void	AddMass (double &mass)
	Add this subsystem's mass. More...

void	AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia)
	Add this subsystem's inertia properties. More...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
	Export the list of bodies to the specified JSON document.

void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
	Export the list of shafts to the specified JSON document.

void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
	Export the list of joints to the specified JSON document.

void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
	Export the list of shaft couples to the specified JSON document.

void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
	Export the list of markers to the specified JSON document.

void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
	Export the list of translational springs to the specified JSON document.

void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
	Export the list of rotational springs to the specified JSON document.

void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
	Export the list of body-body loads to the specified JSON document.

Protected Attributes
DoublePinTrackShoeType	m_topology
	topology of the track shoe (one or two connectors)

std::shared_ptr< ChBody >	m_connector_L
	left connector body

std::shared_ptr< ChBody >	m_connector_R
	right connector body

std::shared_ptr< ChVehicleJoint >	m_joint_L
	shoe - left connector joint

std::shared_ptr< ChVehicleJoint >	m_joint_R
	shoe - right connector joint

std::shared_ptr< ChLinkRSDA >	m_rsda_L
	optional RSDA on left revolute

std::shared_ptr< ChLinkRSDA >	m_rsda_R
	optional RSDA on right revolute

std::shared_ptr< ChVehicleJoint >	m_connection_joint_L
	connection to neighboring track shoe

std::shared_ptr< ChVehicleJoint >	m_connection_joint_R
	connection to neighboring track shoe

std::shared_ptr< ChLinkRSDA >	m_connection_rsda_L
	optional RSDA on connection

std::shared_ptr< ChLinkRSDA >	m_connection_rsda_R
	optional RSDA on connection

Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented
utils::ChBodyGeometry	m_geometry
	collection of visualization and collision shapes

ChContactMaterialData	m_shoe_sprk_minfo
	data for contact material for shoe shape contacting sprocket

Protected Attributes inherited from chrono::vehicle::ChTrackShoe
size_t	m_index
	index of this track shoe within its containing track assembly

std::shared_ptr< ChBody >	m_shoe
	handle to the shoe body

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot not the part is fully constructed

bool	m_output
	specifies whether or not output is generated for this subsystem

std::shared_ptr< ChPart >	m_parent
	parent subsystem (empty if parent is vehicle)

double	m_mass
	subsystem mass

ChMatrix33	m_inertia
	inertia tensor (relative to subsystem COM)

ChFrame	m_com
	COM frame (relative to subsystem reference frame)

ChFrame	m_xform
	subsystem frame expressed in the global frame

Friends
class	ChSprocketDoublePin

class	SprocketDoublePinContactCB

class	ChTrackAssemblyDoublePin

Additional Inherited Members
Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void	RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
	Erase all visual shapes from the visual model associated with the specified physics item (if any).

static void	RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
	Erase the given shape from the visual model associated with the specified physics item (if any).

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

chrono::vehicle::ChTrackShoeDoublePin::ChTrackShoeDoublePin	(	const std::string &	name,
		DoublePinTrackShoeType	topology
	)

Parameters

[in]	name	name of the subsystem
[in]	topology	topology of the mechanism

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeDoublePin::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeDoublePin::GetPitch ( ) const

overridevirtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implements chrono::vehicle::ChTrackShoe.

◆ GetTension()

ChVector3d chrono::vehicle::ChTrackShoeDoublePin::GetTension ( ) const

overridevirtual

Get track tension at this track shoe.

Return is the force due to the connections of this track shoe, expressed in the track shoe reference frame. For a double-pin track shoe, this function returns the force between the track shoe body and connector(s).

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize() [1/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector3d &	loc_shoe,
		const ChQuaternion<> &	rot_shoe,
		const ChVector3d &	loc_connector_L,
		const ChVector3d &	loc_connector_R,
		const ChQuaternion<> &	rot_connector
	)

protected

Initialize this two-connector double-pin track shoe system.

For a one-connector double-pin, the location of the connector body is assumed to be at the midpoint between the provided left and right locations.

Parameters

[in]	chassis	chassis body
[in]	loc_shoe	location of shoe body
[in]	rot_shoe	orientation of shoe body
[in]	loc_connector_L	location of left connector body
[in]	loc_connector_R	location of right connector body
[in]	rot_connector	orientation of connector bodies

◆ Initialize() [2/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector3d &	location,
		const ChQuaternion<> &	rotation
	)

overridevirtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). This version initializes the bodies of a double-pin track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

Parameters

[in]	chassis	chassis body
[in]	location	location relative to the chassis frame
[in]	rotation	orientation relative to the chassis frame

Reimplemented from chrono::vehicle::ChTrackShoeSegmented.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackShoeDoublePin::InitializeInertiaProperties ( )

overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChTrackShoeDoublePin::UpdateInertiaProperties ( )

overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

Member Function Documentation

◆ ExportComponentList()

◆ GetPitch()

◆ GetTension()

◆ Initialize() [1/2]

◆ Initialize() [2/2]

◆ InitializeInertiaProperties()

◆ UpdateInertiaProperties()